Tackling Area Coverage Problems in a Reconfigurable Floor Cleaning Robot Based on Polyomino Tiling Theory

Applied Sciences

Veerajagadheswar Prabakaran¹  Rajesh Elara Mohan¹  Thejus Pathmakumar¹  Vinu Sivanantham¹  Suganya Sampath Kumar² 

[1] Engineering Product Development, Singapore University of Technology and Design, Singapore 487372, Singapore;Parkway Pantai Groups, Mount Elizabeth, Novena, 38 Irrawaddy Rd, Singapore 68986898, Singapore;

关键词: reconfigurable mechanism;    floor cleaning robot;    polyominoes;    hinged dissection;    tiling theory;    area coverage;    path planning;   

DOI  :  10.3390/app8030342

来源: DOAJ

【 摘 要 】

Whilst Polyomino tiling theory has been extensively studied as a branch of research in mathematics, its application has been largely confined to multimedia, graphics and gaming domains. In this paper, we present a novel application of Tromino tiling theory, a class of Polyomino with three cells in the context of a reconfigurable floor cleaning robot, hTromo. The developed robot platform is able to automatically generate a global tiling set required to cover a defined space while leveraging on the Tromino tiling theory. Specifically, we validated the application of five Tromino tiling theorems with our hTromo robot. Experiments performed clearly demonstrate the efficacy of the proposed approach resulting in very high levels of area coverage performance in all considered experimental cases. This paper also presents the system architecture of our hTromo robot and a detailed description of the five tiling theorems applied in this study.

【 授权许可】

Unknown